Method and apparatus for vulnerable road user alert

ABSTRACT

A method at a portable sensor apparatus for detecting an approaching vehicle, the method including detecting, using at least one detector at the sensor apparatus, signal energy of a signal from the approaching vehicle; analyzing the signal energy using a processor at the sensor apparatus to determine that an alarm should be triggered; and based on the analyzing, causing the alarm from an alert mechanism on the sensor apparatus.

FIELD OF THE DISCLOSURE

The present disclosure relates to safety systems and in particularrelates to safety systems for vulnerable road users.

BACKGROUND

Intelligent transport systems (ITS) are systems in which a plurality ofdevices communicate to allow for the transportation system to makebetter informed decisions with regard to transportation and trafficmanagement, as well as allowing for safer and more coordinateddecision-making within a transportation network. ITS system componentsmay be provided within vehicles, as part of fixed infrastructure, suchas on bridges or at intersections, and for other users of thetransportation systems including pedestrians or bicyclists. ITS systemdeployment is receiving significant focus in many markets around theworld, with frequency bands being allocated for the communications. Inaddition to vehicle to vehicle (V2V) communications for safety criticaland non-safety critical applications, further enhancements are beingdeveloped for vehicle to infrastructure (V2I), vehicle to portablepersonal scenarios (V2P), which collectively may be called referred toas vehicle to everything (V2X).

However, communication components within an ITS system are relativelyexpensive. In particular, a device generally operating in an ITS systemis a specialized communication device having a chipset enabled tocommunicate with other V2X infrastructure. Vulnerable road userITS-stations generally have ITS functions including receipt of basicsafety messages sent from nearby ITS station vehicles. These ITSstations incorporate both 5.9 GHz (Dedicated Short Range Communications(DSRC), ITS-G5, Long Term Evolution (LTE) PC5 sidelink, LTE networkconnectivity, and/or 5G (Fifth Generation, also known as NR (New Radio))cellular) transmitters and receivers with associated competitionalprocessors, displays, among other foreign factors. Such devices areheavy on power usage and are expensive technologies.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure will be better understood with reference to thedrawings, in which:

FIG. 1 is a block diagram showing a pedestrian in an intersection;

FIG. 2 is a block diagram showing a field of view for a vulnerable roaduser;

FIG. 3 is a block diagram of a simplified sensor apparatus having asingle detector;

FIG. 4 is a block diagram of a simplified sensor apparatus havingmultiple detectors;

FIG. 5 is a process diagram showing a process for determining whether aLIDAR source is heading towards the sensor apparatus;

FIG. 6 is a process diagram showing a process for determining whether aLIDAR source is increasing in power or intensity;

FIG. 7 is a process diagram showing a process for raising an alarm basedon an analysis of a doppler shift in a detected LIDAR source;

FIG. 8 is a process diagram showing a process for raising an alarm basedon detection of an ITS radiofrequency signal;

FIG. 9 is a process diagram showing a process for raising an alarm basedon detection of an increase in intensity or power of an ITSradiofrequency signal; and

FIG. 10 is a process diagram showing a process for raising an alarmbased on an analysis of a doppler shift in a detected ITS radiofrequencysignal.

DETAILED DESCRIPTION OF THE DRAWINGS

The present disclosure provides a method at a portable sensor apparatusfor detecting an approaching vehicle, the method comprising: detecting,using at least one detector at the sensor apparatus, signal energy of asignal from the approaching vehicle; analyzing the signal energy using aprocessor at the sensor apparatus to determine that an alarm should betriggered; and based on the analyzing, causing the alarm from an alertmechanism on the sensor apparatus.

The present disclosure further provides a portable sensor apparatus fordetecting an approaching vehicle, the portable sensor apparatuscomprising: at least one detector; a processor; and an alert mechanism,wherein the portable sensor apparatus is configured to: detect, usingthe at least one detector, signal energy of a signal from theapproaching vehicle; analyze the signal energy using the processor todetermine that an alarm should be triggered; and based on the analyzing,causing the alarm from the alert mechanism.

The present disclosure further provides a computer readable medium forstoring instruction code, which when executed by a processor on aportable sensor apparatus configured for detecting an approachingvehicle cause the portable sensor apparatus to: detect, using the atleast one detector, signal energy of a signal from the approachingvehicle; analyze the signal energy using the processor to determine thatan alarm should be triggered; and based on the analyzing, causing thealarm from the alert mechanism.

Therefore, in accordance with the various embodiments of the presentdisclosure, cheap, low powered alternatives are provided for offeringbasic safety functionality. Such device may be used for user wearables,bicycles, skateboards, scooters, carts, strollers, among other options.By providing an inexpensive device, users such as families can easilydeploy such devices and may own multiple devices in some cases.

Therefore, in accordance with the present disclosure, a low-costapparatus is provided for sensing approaching vehicles by a vulnerableroad user such as a pedestrian or bicyclist.

In particular, reference is made to FIG. 1. In the embodiment of FIG. 1,a pedestrian 110 is approaching an intersection where bicycle 120 andtwo vehicles, namely vehicles 130 and 132, are in proximity to theintersection. Vehicle 130 is moving away from the intersection whilevehicle 132 is approaching the intersection.

In various scenarios, the pedestrian may not notice the bicyclist on thesidewalk. Further, vehicle 130 may block the view of pedestrian 110 ofvehicle 132, and therefore the pedestrian may not realize that vehicle132 is approaching the intersection. Other scenarios are possible.

In accordance with some embodiments of the present disclosure, apedestrian 110 may have one or more alert devices, which may providealerts if vehicles are sensed approaching from any direction.

However, in other embodiments the alert device may simply be provided onthe back of the pedestrian, for example on the back of the helmet,article of clothing, backpack, among other options. In this case, thesensor may only sense vehicles approaching out of the vulnerable user'sdirect field of view.

Reference is made to FIG. 2. In the embodiment of FIG. 2, a pedestrian110 or other vulnerable road user has a direct field of view 210.

Further, the field-of-view of vulnerable pedestrian 110 is enhanced withperipheral vision 220. In such peripheral vision, the user may noticemovement of a vehicle.

However, in the non-line of sight region 230, the pedestrian 110 willhave no visual knowledge of the approaching vehicle.

Therefore, in accordance with the embodiments of the present disclosure,one or more sensor apparatuses may be located in proximity to thepedestrian or vulnerable road user. In some embodiments, only one devicemay be used by a user where the device is placed to sense approachingvehicles in the pedestrian's non-line of sight or peripheral visionareas. In other embodiments it may be useful to include multipledevices, for example for vulnerable users that are visually impaired orfor children that may not pay attention to traffic, among other options.

The approaching vehicle may be detected in various ways. In theembodiments described below, one example provides for Light DetectionAnd Ranging (LIDAR) sensing in which any LIDAR signal causes an alert.In a further embodiment, the detected LIDAR emissions may be processedto determine the speed and/or heading of an approaching vehicle todetermine whether the vulnerable road user is on a collision trajectory.In still a further embodiment, the LIDAR signal may be processed forvehicle velocity to determine whether enhanced alerts should beprovided. In still a further embodiment, rather than the LIDAR, variousITS radio signals can be processed to determine whether a vehicle isapproaching. These embodiments are described in more detail below.

Vehicle LIDAR Proximity Alarm

Vehicles in the future will generally be LIDAR sensing enabled. LIDAR isa detection system in which a laser beaming signal is transmitted andreflections received.

In this regard, a vulnerable road user sensor apparatus may consist of aLIDAR emission sensor or receiver capable of being worn by thepedestrian or vulnerable road user. For example, the device may beclipped onto clothing or a helmet of a user in some embodiments. Inother embodiments, the device may be integrated into helmets orclothing. In still further embodiments, the device may be part of orclipped to devices associated with the user, such as bicycles,strollers, scooters, skateboards, among other options.

The apparatus may consist of directional LIDAR sensing. For example, inone embodiment the sensor may detect signals from an angle of up to 270°relative to the pedestrian.

Reference is now made to FIG. 3. In the embodiment of FIG. 3, a sensorapparatus 310 comprises a single detector 312, a processor 314, as wellas an alarm system 320. Alarm system 320 may be any system that providesan alert to a pedestrian, including audible signals, haptic signals,visual signals, a combination of any audible, visual or haptic signals,among other options.

The sensor apparatus 310 may for example comprise a detector 312 thatincludes a LIDAR detection diode that would detect light beams at theLIDAR wavelengths. Specifically, the detector detects light at thespecific wavelength known to be transmitted by LIDARs. Additionally, thedetector may detect not just a single instance of receiving light atthat particular wavelength, but also the repeated pulses generated bythe LIDAR's scanning pattern. Thus the sensor apparatus may detect boththe wavelength of the light and the frequency (period) of the pulses.

Once such detector detects energy from the LIDAR signal 330, a processor314 could cause the alarm 320 to be activated. In particular, processor314 can include or interact with a computer readable medium such asmemory or other storage medium, whether internal to processor 314 orexternal to processor 314, to obtain instruction code, which whenexecuted by the processor 314 cause the sensor apparatus to perform themethods described below.

Such a sensor apparatus 310 may be a power limited device. For example,sensor apparatus 310 could be a battery operated device that can beaffixed to clothing or portable accessories. Other limited power sourcescould include any limited power supply, such as a small generator ordynamo, a fuel cell, solar power, energy harvesting, among otheroptions.

External power may allow for recharging of batteries to allow the sensorapparatus 310 to operate in a power limited mode. Recharging methods mayalso include other power sources, such as, but not limited to, solar,electromagnetic, acoustic or vibration charging.

Thus, in accordance with FIG. 3, the reception of a LIDAR signal from avehicle approaching the user as detected by sensor apparatus 310 wouldprovide an alarm. For example, if sensor apparatus 310 were positionedto detect signals from outside of the vulnerable road user's field ofview, sensor apparatus 310 which would give the vulnerable road userawareness of nearby, but out of field-of-view ITS stations. Therefore,the embodiment of FIG. 3 is a simple, very low power detector andvulnerable road user alerting system.

Directional LIDAR Detection

In a further embodiment, a sensor apparatus may comprise multiplephotosensitive detectors operating at the LIDAR light spectrum frequencythat would allow calculation of whether a vehicle was on a collisioncourse with the vulnerable road user. Calculation may be performed basedon receiving a LIDAR signal continuously on one detector.

Reference is now made to FIG. 4. In the embodiment of FIG. 4, and sensorapparatus 410 comprises a processor 412. In particular, processor 412can include or interact with a computer readable medium such as memoryor other storage medium, whether internal to processor 314 or externalto processor 412, to obtain instruction code, which when executed by theprocessor 412 cause the sensor apparatus to perform the methodsdescribed below.

Sensor apparatus 410 further includes a plurality of detectors, namelydetectors 420, 422, 424, 426 and 428. However, the number of detectorson sensor apparatus 410 is not restricted to the embodiment of FIG. 4and in practical embodiments, more or fewer detectors could be providedon sensor apparatus 410.

Sensor apparatus 410 further includes an alarm 430, which may be anyaudible, visual, haptic, or combination alert system.

Using the plurality of the detectors, sensor apparatus 410 coulddetermine whether a vehicle is approaching the vulnerable road user, oris travelling in a different direction. For example, if a particulardetector, such as a detector 424, detects the energy of LIDAR signal 440from a vehicle for greater than a threshold time period, this wouldindicate that the vehicle is approaching the vulnerable road userdirectly from that direction and therefore that the alarm should betriggered. Conversely, if the LIDAR signal is first detected by detector422 and then detector 424 and then detector 426 and then detector 428,this would indicate that the vehicle is passing the pedestrian at anangle that is not a collision course and that therefore that an alarmdoes not need to be raised.

Similarly, if detector 422 detects the energy of LIDAR signal 442 forgreater than a threshold period, or if detector 426 detects the energyof LIDAR signal 444 for greater than a threshold period, such detectioncould indicate a potential collision and a need to activate an alarm.

Reference is now made to FIG. 5, which shows a process for detectingwhether a vehicle is approaching the vulnerable road user. The processof FIG. 5 starts at block 510 and proceeds to block 520 in which a checkis made whether the alert device has detected a LIDAR signal. If not,the process continues to loop at block 520.

Once a LIDAR signal is detected, the process proceeds to block 530 inwhich a check is made to determine whether a single detector at thesensor apparatus has detected the LIDAR signal for greater than athreshold time period. If not, the process continues to loop back toblock 520 to continue to check for such LIDAR signals.

However, if a single detector has detected a LIDAR signal for greaterthan a threshold time period, then the process proceeds to block 540 inwhich an alarm is raised. Again, such alarm may be audible, visual,haptic, or a combination of the above.

The process then proceeds back to block 520 to continue to check fordetected LIDAR signals.

In some embodiment, the threshold time period at block 530 may be varieddepending on which detector is detecting the LIDAR signal. For example,a LIDAR detector that is positioned directly rearward may detect a LIDARsignal longer than a detector that detects at an angle. In this case,the threshold for such rearward facing detector may be longer than anangled detector to better determine whether the vehicle is on acollision course. Other options are possible.

In other embodiments, the threshold time period may be equal for alldetectors.

Further, in some embodiments, the alarm at block 540 may be varieddepending on the amount of time that a detector has been detecting aLIDAR signal. For example, an original alarm may simply be a ping toprovide a pedestrian or vulnerable road user with an alert that avehicle is approaching. However, if the signal continues to be detectedthis may indicate that a collision is imminent and that therefore thealarm may be more urgent, such as a louder alarm, or alarm that includesaudio plus haptic feedback, among other options.

LIDAR Beam Power Measurement

In still a further embodiment, the intensity or power level of thereceived LIDAR signal may be utilized to determine whether a collisionis imminent. In particular, LIDAR transmit power is calibrated. Whilethe primary measurement of the LIDAR is time of flight, which isindependent of power, a secondary measurement is the intensity of thereceived reflection. In this regard, LIDAR systems typically have highlycalibrated laser transmit power.

Therefore, assuming that the laser transmit intensity or power isconsistent over a short amount of time, the received laser intensity cantherefore be used in calculating whether the LIDAR transmitting object,such as a vehicle, is moving closer or moving away from the sensorapparatus on the vulnerable road user.

In particular, reference is now made to FIG. 6, which shows a processfor determining whether the source of the LIDAR energy is getter closerto the vulnerable road user. The process of FIG. 6 starts a block 610and proceeds to block 620. At block 620, the sensor apparatus receives aplurality of LIDAR signals. For example, such LIDAR signals may bereceived over a threshold time period.

From block 620, the process proceeds to block 630 in which a check ismade to determine whether the intensity or power of the received LIDARsignals is increasing or decreasing. In particular, if the intensity orpower is not increased, this would indicate that the vehicle is notmoving towards the sensor apparatus and the vulnerable road user. Inthis case, the process may proceed back to block 620 to continue toreceive LIDAR signals.

Conversely, if it is determined at block 630 that the intensity or poweris increasing, this indicates that the source of the LIDAR energy ismoving closer to the vulnerable road user, and the process may proceedto block 640 in which the alarm can be raised. As with the aboveembodiments, the alarm may be auditory, haptic, visual, or a combinationthereof, among other options.

Doppler Shift

In still a further embodiment, a sensor apparatus may analyze thereceived LIDAR signal for doppler shift to estimate approaching vehiclespeed. In particular, automotive LIDARs tend to be in the 905 nmwavelength range, with some research being done at the 1550 nm range. Inthis regard, the wavelength of the LIDAR is known to the sensorapparatus.

Therefore, the detector could detect the wavelength received at thesensor apparatus. A doppler shift could indicate that the vehicle isapproaching the vulnerable road user or moving away from the vulnerableroad user. Further, the doppler shift could indicate the velocity of theapproaching LIDAR source.

Reference is now made to FIG. 7. The process of FIG. 7 starts at block710 and proceeds to block 720 in which the LIDAR signal is received.

The process then proceeds to block 722 in which the doppler shift forthe received signal is analyzed.

From block 722, the process proceeds to block 730 in which a check ismade to determine whether the LIDAR source is approaching the sensorapparatus. If yes, the process proceeds to block 740 in which an alarmis raised. The alarm raised at block 740 could, in some cases, vary inintensity based on the approaching speed of the vehicle. Therefore, thevarious indications such as audio, haptic or visual may be provided atvarious levels depending on the approach of the vehicle.

Conversely, from block 730, if the vehicle is not approaching the sensorapparatus, then the process may proceed back to block 720 in whichsignals continue to be monitored.

From block 740, the process may also proceed back to block 720 in whichfurther signals are monitored.

Radiofrequency Energy Analysis

In still a further embodiment, rather than utilizing a LIDAR detector,in some cases a radio frequency and energy detector could be utilized todetermine an approaching vehicle.

In particular, Intelligence Transport System vehicles will typically beequipped with transmitters for ITS communications. For example, in somecases, a 5.9 GHz radio transmitter transmitting DSRC, ITS-G5, or LTE PC5signals, among others, could be utilized by vehicles that are part ofthe ITS system.

In this case, detector 312 or detectors 420, 422, 424, 426 and 428 maybe radiofrequency energy detectors rather than LIDAR energy detectors.

The embodiments of FIGS. 5 to 7 could similarly be utilized, but usingradiofrequency signals rather than the LIDAR signals. In particular, thesensor or receiver apparatus may trigger an alert, such as an audible,haptic, visual or combination alert, on reception of a radio frequencysignal from a moving ITS vehicle. Therefore, this embodiment gives thevulnerable road user awareness of nearby, but out of line sight ITSstations.

The alert would work within the range of transmission of the 5.9 GHzradio transmitter (or whatever radiofrequency bands are utilized for ITSsolutions). For example, in one embodiment, a 5.9 GHz radio may have aworking range of 350 m.

Thus, reference is now made to FIG. 8. The process of FIG. 8 starts atblock 810 and proceeds to block 820 in which a check is made todetermine where the sensor apparatus detects a ITS RF signal.

If yes, then the process proceeds to block 830 in which an alarm may beraised.

Similarly, reference is made to FIG. 9. In the embodiment of FIG. 9, theprocess starts at block 910 and proceeds to block 920 in ITS RF signalsare detected for a time period.

The process proceeds to block 930 in which a check is made to determinewhether the intensity or power of the RF energy is increasing.Specifically, DSRC radio is transmitted at a constant power level. Thusa receiver could detect if the intensity or power detected is increasingor decreasing. If no then the process may proceed back to block 920.

Conversely, from block 930, if the power or intensity is increasing, theprocess may proceed to block 940 in which an alarm is raised.

Once the alarm is raised, the process may then proceed back to block 920to check for further ITS RF signals.

Similarly, reference is made to FIG. 10 in which the process starts atblock 1010 and proceeds to block 1020 in which a RF signal is receivedwithin the ITS spectrum.

From block 1020, the process proceeds to block 1022 in which the dopplershift for the signal is analyzed.

From block 1022 the process proceeds to block 1030 in which adetermination is made on whether the ITS RF source is moving towards thevulnerable road user. If no then the process proceeds back to block1020.

Conversely, if the RF source is moving towards the vulnerable road user,then the process proceeds from block 1030 to block 1040 in which analarm is raised. As with the alarm at block 740 above, the intensity ofthe alarm may vary depending on the speed of the approaching ITS RFsource.

The embodiments of FIGS. 4 to 10 can, in some cases, be combined toprovide a sensor apparatus having various capabilities. Thus, forexample, both intensity and doppler shift may be used to make adetermination on whether a LIDAR or ITS RF source is approaching avulnerable road user. In other cases, both RF signals and LIDAR signalsmay be used to make a determination on whether an alarm should beraised. Thus, the present disclosure is not limited to any oneembodiment, and in some cases the embodiments may be combined.

The above solutions therefore offer basic safety warnings to vulnerableroad users where the sensor apparatus may have a long battery life.

The embodiments described herein are examples of structures, systems ormethods having elements corresponding to elements of the techniques ofthis application. This written description may enable those skilled inthe art to make and use embodiments having alternative elements thatlikewise correspond to the elements of the techniques of thisapplication. The intended scope of the techniques of this applicationthus includes other structures, systems or methods that do not differfrom the techniques of this application as described herein, and furtherincludes other structures, systems or methods with insubstantialdifferences from the techniques of this application as described herein.

While operations are depicted in the drawings in a particular order,this should not be understood as requiring that such operations beperformed in the particular order shown or in sequential order, or thatall illustrated operations be performed, to achieve desirable results.In certain circumstances, multitasking and parallel processing may beemployed. Moreover, the separation of various system components in theimplementation descried above should not be understood as requiring suchseparation in all implementations, and it should be understood that thedescribed program components and systems can generally be integratedtogether in a signal software product or packaged into multiple softwareproducts. In some cases, functions may be performed entirely in hardwareand such a solution may be the functional equivalent of a softwaresolution

Also, techniques, systems, subsystems, and methods described andillustrated in the various implementations as discrete or separate maybe combined or integrated with other systems, modules, techniques, ormethods. Other items shown or discussed as coupled or directly coupledor communicating with each other may be indirectly coupled orcommunicating through some interface, device, or intermediate component,whether electrically, mechanically, or otherwise. Other examples ofchanges, substitutions, and alterations are ascertainable by one skilledin the art and may be made.

While the above detailed description has shown, described, and pointedout the fundamental novel features of the disclosure as applied tovarious implementations, it will be understood that various omissions,substitutions, and changes in the form and details of the systemillustrated may be made by those skilled in the art. In addition, theorder of method steps is not implied by the order they appear in theclaims.

When messages are sent to/from an electronic device, such operations maynot be immediate or from the server directly. They may be synchronouslyor asynchronously delivered, from a server or other computing systeminfrastructure supporting the devices/methods/systems described herein.The foregoing steps may include, in whole or in part,synchronous/asynchronous communications to/from thedevice/infrastructure. Moreover, communication from the electronicdevice may be to one or more endpoints on a network. These endpoints maybe serviced by a server, a distributed computing system, a streamprocessor, etc. Content Delivery Networks (CDNs) may also providecommunication to an electronic device. For example, rather than atypical server response, the server may also provision or indicate datafor a content delivery network (CDN) to await download by the electronicdevice at a later time, such as a subsequent activity of electronicdevice. Thus, data may be sent directly from the server, or otherinfrastructure, such as a distributed infrastructure, or a CDN, as partof or separate from the system.

Typically, storage mediums can include any or some combination of thefollowing: a semiconductor memory device such as a dynamic or staticrandom access memory (a DRAM or SRAM), an erasable and programmableread-only memory (EPROM), an electrically erasable and programmableread-only memory (EEPROM) and flash memory; a magnetic disk such as afixed, floppy and removable disk; another magnetic medium includingtape; an optical medium such as a compact disk (CD) or a digital videodisk (DVD); or another type of storage device. Note that theinstructions discussed above can be provided on one computer-readable ormachine-readable storage medium, or alternatively, can be provided onmultiple computer-readable or machine-readable storage media distributedin a large system having possibly plural nodes. Such computer-readableor machine-readable storage medium or media is (are) considered to bepart of an article (or article of manufacture). An article or article ofmanufacture can refer to any manufactured single component or multiplecomponents. The storage medium or media can be located either in themachine running the machine-readable instructions, or located at aremote site from which machine-readable instructions can be downloadedover a network for execution.

In the foregoing description, numerous details are set forth to providean understanding of the subject disclosed herein. However,implementations may be practiced without some of these details. Otherimplementations may include modifications and variations from thedetails discussed above. It is intended that the appended claims coversuch modifications and variations.

The invention claimed is:
 1. A method at a portable sensor apparatus,the method comprising: detecting, using at least one detector at thesensor apparatus, signal energy of a signal from an approaching vehicle;analyzing the signal energy using a processor at the sensor apparatus todetermine that an alarm should be triggered; and based on the analyzing,causing the alarm from an alert mechanism on the sensor apparatus;wherein the analyzing comprises determining that the approaching vehicleis on a collision course with the sensor apparatus; and wherein thealarm varies based on amount of time during which the signal wasdetected.
 2. The method of claim 1, wherein the analyzing comprisestriggering the alarm upon detection of the signal energy.
 3. The methodof claim 1, wherein the analyzing comprises determining the approachingvehicle speed based on a doppler shift in the signal.
 4. The method ofclaim 3, wherein the alarm varies based on the approaching vehiclespeed.
 5. The method of claim 1, wherein the analyzing comprisesdetermining a distance for the approaching vehicle based on power orintensity of the signal energy.
 6. The method of claim 5, wherein thealarm varies based on the approaching vehicle distance.
 7. The method ofclaim 1, wherein the signal is a LIDAR signal.
 8. The method of claim 1,wherein the signal is an Intelligent Transportation Signal from avehicle.
 9. The method of claim 1, wherein the alarm is one or more of avisual alarm, audible alarm, or a haptic alarm.
 10. A portable sensorapparatus, the portable sensor apparatus comprising: at least onedetector; a processor; and an alert mechanism, wherein the portablesensor apparatus is configured to: detect, using the at least onedetector, signal energy of a signal from an approaching vehicle; analyzethe signal energy using the processor to determine that an alarm shouldbe triggered; and based on the analyzing, causing the alarm from thealert mechanism; wherein the portable sensor apparatus is configured toanalyze by determining that the approaching vehicle is on a collisioncourse with the sensor apparatus; and wherein the alarm varies based onan amount of time during winch the signal was detected.
 11. The portablesensor apparatus of claim 10, wherein the portable sensor apparatus isconfigured to analyze by triggering the alarm upon detection of thesignal energy.
 12. The portable sensor apparatus of claim 10, whereinthe portable sensor apparatus is configured to analyze by determiningthe approaching vehicle speed based on a doppler shift in the signal.13. The portable sensor apparatus of claim 12, wherein the alarm variesbased on the approaching vehicle speed.
 14. The portable sensorapparatus of claim 10, wherein the portable sensor apparatus isconfigured to analyze by determining a distance for the approachingvehicle based on power or intensity of the signal energy.
 15. Theportable sensor apparatus of claim 14, wherein the alarm varies based onthe approaching vehicle distance.
 16. The portable sensor apparatus ofclaim 10, wherein the signal is a LIDAR signal.
 17. The portable sensorapparatus of claim 10, wherein the signal is an IntelligentTransportation Signal from a vehicle.
 18. The portable sensor apparatusof claim 10, wherein the alarm is one or more of a visual alarm, audiblealarm, or a haptic alarm.
 19. A computer readable medium for storinginstruction code, which when executed by a processor on a portablesensor apparatus configured for detecting an approaching vehicle causethe portable sensor apparatus to: detect, using the at least onedetector, signal energy of a signal from the approaching vehicle;analyze the signal energy using the processor to determine that an alarmshould be triggered; and based on the analyzing, causing the alarm fromthe alert mechanism; wherein the portable sensor apparatus is configuredto analyze by determining that the approaching vehicle is on a collisioncourse with the sensor apparatus; and wherein the alarm varies based onan amount of time during which the signal was detected.